HaloGS: Loose Coupling of Compact Geometry and Gaussian Splats for 3D Scenes

High fidelity 3D reconstruction and rendering hinge on capturing precise geometry while preserving photo realistic detail. Most existing methods either fuse these goals into a single cumbersome model or adopt hybrid schemes whose uniform primitives lead to a trade off between efficiency and fidelity. In this paper, we introduce HaloGS, a dual representation that loosely couples coarse triangles for geometry with Gaussian primitives for appearance, motivated by the lightweight classic geometry representations and their proven efficiency in real world applications. Our design yields a compact yet expressive model capable of photo realistic rendering across both indoor and outdoor environments, seamlessly adapting to varying levels of scene complexity. Experiments on multiple benchmark datasets demonstrate that our method yields both compact, accurate geometry and high fidelity renderings, especially in challenging scenarios where robust geometric structure make a clear difference.

The Eye of Sherlock Holmes: Uncovering User Private Attribute Profiling via Vision-Language Model Agentic Framework

Our research reveals a new privacy risk associated with the vision-language model (VLM) agentic framework: the ability to infer sensitive attributes (e.g., age and health information) and even abstract ones (e.g., personality and social traits) from a set of personal images, which we term "image private attribute profiling." This threat is particularly severe given that modern apps can easily access users' photo albums, and inference from image sets enables models to exploit inter-image relations for more sophisticated profiling. However, two main challenges hinder our understanding of how well VLMs can profile an individual from a few personal photos: (1) the lack of benchmark datasets with multi-image annotations for private attributes, and (2) the limited ability of current multimodal large language models (MLLMs) to infer abstract attributes from large image collections. In this work, we construct PAPI, the largest dataset for studying private attribute profiling in personal images, comprising 2,510 images from 251 individuals with 3,012 annotated privacy attributes. We also propose HolmesEye, a hybrid agentic framework that combines VLMs and LLMs to enhance privacy inference. HolmesEye uses VLMs to extract both intra-image and inter-image information and LLMs to guide the inference process as well as consolidate the results through forensic analysis, overcoming existing limitations in long-context visual reasoning. Experiments reveal that HolmesEye achieves a 10.8% improvement in average accuracy over state-of-the-art baselines and surpasses human-level performance by 15.0% in predicting abstract attributes. This work highlights the urgency of addressing privacy risks in image-based profiling and offers both a new dataset and an advanced framework to guide future research in this area.

Chain-of-Zoom: Extreme Super-Resolution via Scale Autoregression and Preference Alignment

Modern single-image super-resolution (SISR) models deliver photo-realistic results at the scale factors on which they are trained, but collapse when asked to magnify far beyond that regime. We address this scalability bottleneck with Chain-of-Zoom (CoZ), a model-agnostic framework that factorizes SISR into an autoregressive chain of intermediate scale-states with multi-scale-aware prompts. CoZ repeatedly re-uses a backbone SR model, decomposing the conditional probability into tractable sub-problems to achieve extreme resolutions without additional training. Because visual cues diminish at high magnifications, we augment each zoom step with multi-scale-aware text prompts generated by a vision-language model (VLM). The prompt extractor itself is fine-tuned using Generalized Reward Policy Optimization (GRPO) with a critic VLM, aligning text guidance towards human preference. Experiments show that a standard 4x diffusion SR model wrapped in CoZ attains beyond 256x enlargement with high perceptual quality and fidelity.

SD-OVON: A Semantics-aware Dataset and Benchmark Generation Pipeline for Open-Vocabulary Object Navigation in Dynamic Scenes

We present the Semantics-aware Dataset and Benchmark Generation Pipeline for Open-vocabulary Object Navigation in Dynamic Scenes (SD-OVON). It utilizes pretraining multimodal foundation models to generate infinite unique photo-realistic scene variants that adhere to real-world semantics and daily commonsense for the training and the evaluation of navigation agents, accompanied with a plugin for generating object navigation task episodes compatible to the Habitat simulator. In addition, we offer two pre-generated object navigation task datasets, SD-OVON-3k and SD-OVON-10k, comprising respectively about 3k and 10k episodes of the open-vocabulary object navigation task, derived from the SD-OVON-Scenes dataset with 2.5k photo-realistic scans of real-world environments and the SD-OVON-Objects dataset with 0.9k manually inspected scanned and artist-created manipulatable object models. Unlike prior datasets limited to static environments, SD-OVON covers dynamic scenes and manipulatable objects, facilitating both real-to-sim and sim-to-real robotic applications. This approach enhances the realism of navigation tasks, the training and the evaluation of open-vocabulary object navigation agents in complex settings. To demonstrate the effectiveness of our pipeline and datasets, we propose two baselines and evaluate them along with state-of-the-art baselines on SD-OVON-3k. The datasets, benchmark and source code are publicly available.

Restoring Real-World Images with an Internal Detail Enhancement Diffusion Model

Restoring real-world degraded images, such as old photographs or low-resolution images, presents a significant challenge due to the complex, mixed degradations they exhibit, such as scratches, color fading, and noise. Recent data-driven approaches have struggled with two main challenges: achieving high-fidelity restoration and providing object-level control over colorization. While diffusion models have shown promise in generating high-quality images with specific controls, they often fail to fully preserve image details during restoration. In this work, we propose an internal detail-preserving diffusion model for high-fidelity restoration of real-world degraded images. Our method utilizes a pre-trained Stable Diffusion model as a generative prior, eliminating the need to train a model from scratch. Central to our approach is the Internal Image Detail Enhancement (IIDE) technique, which directs the diffusion model to preserve essential structural and textural information while mitigating degradation effects. The process starts by mapping the input image into a latent space, where we inject the diffusion denoising process with degradation operations that simulate the effects of various degradation factors. Extensive experiments demonstrate that our method significantly outperforms state-of-the-art models in both qualitative assessments and perceptual quantitative evaluations. Additionally, our approach supports text-guided restoration, enabling object-level colorization control that mimics the expertise of professional photo editing.

PawPrint: Whose Footprints Are These? Identifying Animal Individuals by Their Footprints

In the United States, as of 2023, pet ownership has reached 66% of households and continues to rise annually. This trend underscores the critical need for effective pet identification and monitoring methods, particularly as nearly 10 million cats and dogs are reported stolen or lost each year. However, traditional methods for finding lost animals like GPS tags or ID photos have limitations-they can be removed, face signal issues, and depend on someone finding and reporting the pet. To address these limitations, we introduce PawPrint and PawPrint+, the first publicly available datasets focused on individual-level footprint identification for dogs and cats. Through comprehensive benchmarking of both modern deep neural networks (e.g., CNN, Transformers) and classical local features, we observe varying advantages and drawbacks depending on substrate complexity and data availability. These insights suggest future directions for combining learned global representations with local descriptors to enhance reliability across diverse, real-world conditions. As this approach provides a non-invasive alternative to traditional ID tags, we anticipate promising applications in ethical pet management and wildlife conservation efforts.

Understanding Generative AI Capabilities in Everyday Image Editing Tasks

Generative AI (GenAI) holds significant promise for automating everyday image editing tasks, especially following the recent release of GPT-4o on March 25, 2025. However, what subjects do people most often want edited? What kinds of editing actions do they want to perform (e.g., removing or stylizing the subject)? Do people prefer precise edits with predictable outcomes or highly creative ones? By understanding the characteristics of real-world requests and the corresponding edits made by freelance photo-editing wizards, can we draw lessons for improving AI-based editors and determine which types of requests can currently be handled successfully by AI editors? In this paper, we present a unique study addressing these questions by analyzing 83k requests from the past 12 years (2013-2025) on the Reddit community, which collected 305k PSR-wizard edits. According to human ratings, approximately only 33% of requests can be fulfilled by the best AI editors (including GPT-4o, Gemini-2.0-Flash, SeedEdit). Interestingly, AI editors perform worse on low-creativity requests that require precise editing than on more open-ended tasks. They often struggle to preserve the identity of people and animals, and frequently make non-requested touch-ups. On the other side of the table, VLM judges (e.g., o1) perform differently from human judges and may prefer AI edits more than human edits. Code and qualitative examples are available at: https://psrdataset.github.io

UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat

This paper presents Virtual Teach and Repeat (VirT&R): an extension of the Teach and Repeat (T&R) framework that enables GPS-denied, zero-shot autonomous ground vehicle navigation in untraversed environments. VirT&R leverages aerial imagery captured for a target environment to train a Neural Radiance Field (NeRF) model so that dense point clouds and photo-textured meshes can be extracted. The NeRF mesh is used to create a high-fidelity simulation of the environment for piloting an unmanned ground vehicle (UGV) to virtually define a desired path. The mission can then be executed in the actual target environment by using NeRF-derived point cloud submaps associated along the path and an existing LiDAR Teach and Repeat (LT&R) framework. We benchmark the repeatability of VirT&R on over 12 km of autonomous driving data using physical markings that allow a sim-to-real lateral path-tracking error to be obtained and compared with LT&R. VirT&R achieved measured root mean squared errors (RMSE) of 19.5 cm and 18.4 cm in two different environments, which are slightly less than one tire width (24 cm) on the robot used for testing, and respective maximum errors were 39.4 cm and 47.6 cm. This was done using only the NeRF-derived teach map, demonstrating that VirT&R has similar closed-loop path-tracking performance to LT&R but does not require a human to manually teach the path to the UGV in the actual environment.

Seeing through Satellite Images at Street Views

This paper studies the task of SatStreet-view synthesis, which aims to render photorealistic street-view panorama images and videos given any satellite image and specified camera positions or trajectories. We formulate to learn neural radiance field from paired images captured from satellite and street viewpoints, which comes to be a challenging learning problem due to the sparse-view natural and the extremely-large viewpoint changes between satellite and street-view images. We tackle the challenges based on a task-specific observation that street-view specific elements, including the sky and illumination effects are only visible in street-view panoramas, and present a novel approach Sat2Density++ to accomplish the goal of photo-realistic street-view panoramas rendering by modeling these street-view specific in neural networks. In the experiments, our method is testified on both urban and suburban scene datasets, demonstrating that Sat2Density++ is capable of rendering photorealistic street-view panoramas that are consistent across multiple views and faithful to the satellite image.

Depth Transfer: Learning to See Like a Simulator for Real-World Drone Navigation

Sim-to-real transfer is a fundamental challenge in robot reinforcement learning. Discrepancies between simulation and reality can significantly impair policy performance, especially if it receives high-dimensional inputs such as dense depth estimates from vision. We propose a novel depth transfer method based on domain adaptation to bridge the visual gap between simulated and real-world depth data. A Variational Autoencoder (VAE) is first trained to encode ground-truth depth images from simulation into a latent space, which serves as input to a reinforcement learning (RL) policy. During deployment, the encoder is refined to align stereo depth images with this latent space, enabling direct policy transfer without fine-tuning. We apply our method to the task of autonomous drone navigation through cluttered environments. Experiments in IsaacGym show that our method nearly doubles the obstacle avoidance success rate when switching from ground-truth to stereo depth input. Furthermore, we demonstrate successful transfer to the photo-realistic simulator AvoidBench using only IsaacGym-generated stereo data, achieving superior performance compared to state-of-the-art baselines. Real-world evaluations in both indoor and outdoor environments confirm the effectiveness of our approach, enabling robust and generalizable depth-based navigation across diverse domains.